CN205427615U

CN205427615U - Fine positioning device based on hall positioning system

Info

Publication number: CN205427615U
Application number: CN201620193311.9U
Authority: CN
Inventors: 徐知非
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-03-14
Filing date: 2016-03-14
Publication date: 2016-08-03
Anticipated expiration: 2026-03-14

Abstract

The utility model discloses a fine positioning device based on hall positioning system, running gear includes positioning system, running gear, choose telescopic hall probe for use, cooperation running gear, realize accurate other location of millimeter level of arriving, it can only be in the defect of earth magnetism reference point location to compensate tradition ground magnetic localization system, realize the accurate positioning of position between the adjacent earth magnetism reference point, increase by one set of hall probe, the telescopic link, the positioning system that step motor constitutes, realize the location algorithm based on arduino, reach the accurate positioning of optional position between two ground magnetic localization points, need not to improve ground magnetic localization dot density, and the effect that turns to of the accuracy that realizes an angle of 90 degrees and multiple angle, the simple structure of system has, the quick accurate value in location.

Description

A kind of accurate positioning device based on Hall orientation system

Technical field

This utility model relates to positioner technical field, a kind of accurate positioning device based on Hall orientation system.

Background technology

nullWalking mechanism has delicate structure、Control reliable、Operate steadily，Of many uses、Application is flexibly，Different end effectors can be installed work with the workpiece handling completing various difformity and state，Significantly reduce the physical work that the mankind are heavy，Improve the quality stability of product and the automatization level of enterprise，Decrease the labor cost expenditure of enterprise，Traditional carrying walking mechanism is to be carried out the coordinate labelling of position by the earth magnetism filled on the ground，Utilize and earth magnetism is identified that sensor accurately finds and tells marked object，Through controlling part computational analysis，Control the frame for movement being arranged in walking mechanism，It is transported to object specify position，Realize intelligent classification handling、The purpose of carrying，Make goods transport carrying place carrying intellectuality，Reduce human labour，Realize comprehensive intelligent management，Cannot be accurately positioned between traditional earth magnetism location adjacent earth magnetism of walking mechanism.

Therefore, design a system structure simply for overcoming the deficiency of above-mentioned technology, location quickly a kind of accurate positioning device based on Hall orientation system, utility model people problem to be solved just.

Utility model content

For the deficiencies in the prior art, the purpose of this utility model is to provide a kind of accurate positioning device based on Hall orientation system, and its system structure is simple, and location is the most accurately.

nullThis utility model solves its technical problem and be the technical scheme is that a kind of accurate positioning device based on Hall orientation system，It includes alignment system、Walking mechanism，Described alignment system is by hall probe、Telescoping mechanism、Installing plate、Motor forms，Described motor is arranged on a mounting board，Described telescoping mechanism passes motor，Described telescoping mechanism one end connects hall probe，Described alignment system is arranged on the bottom of walking mechanism，Described telescoping mechanism is by the tooth bar of the gear that modulus is 0.5、Insulated column、Bearing forms，Described motor is bolted on installing plate by two，The location of described tooth bar is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes，Described bearing is miniature bearing，Described miniature bearing quantity is four，The linear movement direction of tooth bar is carried out positioning tooth bar by described miniature bearing，Described hall probe is to be made up of four Hall elements and peripheral circuit，Described four Hall elements are decussation distribution；Described walking mechanism is made up of motor of walking, driving plate, road wheel, and described walking motor is connected with road wheel by driving plate.

The beneficial effects of the utility model are:

1, telescopic hall probe is selected in this utility model design, coordinate walking mechanism, realization is accurate to the other location of grade, the magnetic orientation system traditionally that makes up can only be in the defect of earth magnetism reference point location, realize being accurately positioned of position between adjacent earth magnetism reference point, by the utility model proposes a set of hall probe of increase, expansion link, the alignment system that motor is constituted, location algorithm is realized based on Arduino, reach being accurately positioned of optional position between two earth magnetism anchor points, without improving earth magnetism anchor point density, and realize the effect accurately turned to of an angle of 90 degrees and multiple angle thereof, there is system structure simple, location is the most accurate to be worth.

Accompanying drawing explanation

Fig. 1 is this utility model overall structure schematic diagram.

Fig. 2 is this utility model polycrystalline substance schematic diagram.

Fig. 3 is this utility model elevated bottom perspective structural representation.

Fig. 4 is hall probe structural representation in this utility model.

Fig. 5 is this utility model control circuit annexation schematic diagram.

Description of reference numerals: 1-alignment system；11-hall probe；12-telescoping mechanism；13-motor；14-Hall element；15-tooth bar；

3-walking mechanism；31-walks motor；32-drives plate；33-road wheel.

Detailed description of the invention

Below in conjunction with specific embodiment, this utility model is expanded on further, it should be appreciated that these embodiments are merely to illustrate this utility model rather than limit scope of the present utility model.In addition, it is to be understood that after having read the content that this utility model is lectured, this utility model can be made various changes or modifications by those skilled in the art, these equivalent form of values also fall within application appended claims limited range.

Seeing Fig. 1-4, this utility model includes alignment system 1, walking mechanism 3；Walking mechanism 3 is made up of walking motor 31, driving plate 32, road wheel 33, and walking motor 31 is connected with road wheel 33 by driving plate 32.

See Fig. 1-4, alignment system 1 is made up of hall probe 11, telescoping mechanism 12, installing plate, motor 13, and motor 13 arranges on a mounting board, and telescoping mechanism 12 is through motor 13, telescoping mechanism 12 one end connects has hall probe 11, alignment system 1 to be arranged on the bottom of walking mechanism 3.

See Fig. 1-4, telescoping mechanism 12 is by the tooth bar 15 of the gear that modulus is 0.5, insulated column, bearing forms, motor 13 is bolted on installing plate by two, the location of tooth bar 15 is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes, bearing is miniature bearing, miniature bearing quantity is four, the linear movement direction of tooth bar is carried out positioning tooth bar by miniature bearing, can rolling friction on miniature bearing, the so motion of tooth bar 15 Relative friction accurately and between minimizing tooth bar 15 and fixed plate, ensure that mechanism convert rotational motion be in line motion accuracy and reliability.

nullSee Fig. 4，Hall probe 11 is to be made up of four Hall elements 14 and peripheral circuit，Four Hall elements 14 are distributed in decussation，With reference to earth magnetism anchor point，Walking mechanism is coordinated to realize self orientation adjustment，Being accurately positioned of optional position between two earth magnetism anchor points can be realized，And realize accurately turning to of an angle of 90 degrees and multiple angle thereof，Hall element 14 can accurately induce the magnetic field of 12mm strong magnetic disk，When the centre distance Hall element 14 of strong magnetic disk is within 10mm，That is exportable induced signal of Hall element 14，4 Hall elements 14 with decussation branch around earth magnetism at 10MM，When popping one's head in left avertence when，The Hall element 14 on the left side will detect signal，Output pin is to one low level of panel，Panel will adjust the position of walking mechanism to the left，Other direction is by that analogy，4 Hall elements 14 correct the position deviation on four direction respectively，Walking mechanism is made to adjust self orientation.

Ground magnetic orientation mode is divided into route pattern and matrix pattern, so-called route pattern refers to lay earth magnetism according to fixed route, and matrix pattern refers to lay earth magnetism with fixed interval, owing to matrix pattern can arbitrarily change track route by change program, so matrix pattern application is the most extensive in actual application, the walking mechanism station-keeping mode of this project is also to use matrix pattern, and the interval of each earth magnetism reference point is 200mm.

Walking mechanism is put in ground nonmagnetic matrix, Arduino2560 master control borad drive stepping motor 13 is moved, tooth bar 15 is made to travel forward 200MM, tooth bar 15 moves to above the earth magnetism of front end with the hall probe 11 of front end, Arduino2560 master control borad is by reading the signal autocorrection direction of four Hall elements 14, realize location, then walking mechanism is allowed to move forward a small step, flexible hall probe 11 shrinks therewith, and feed back the position at relative walking mechanism body center of now popping one's head in, thus realize self poisoning.

When walking mechanism needs to turn to, can first move to the surface of an earth magnetism, then hall probe 11 be stretched out 200mm, rotate in place, when probe detects next earth magnetism, i.e. complete accurate 90-degree rotation.

See Fig. 5, Arduino2560 is master control borad, realizing being accurately positioned needs to design the positioning probe that Hall element 14 is distributed in ad-hoc location, then telescoping mechanism is designed, design automatic control algorithm, arduino2560 realizes, makes four-wheel drive walking mechanism chassis, write and debug the program of being automatically positioned.

The induction range of experiment test Hall element is as follows:

Write a simple test program:

The circular strong magnetic of 1mm thickness that Hall element can sense immediately below it in 15mm distance is found, when strong magnetic biasing is away from Hall element vertical centrage 10mm beyond induction range through test.

Telescopic hall probe 11 is selected in this utility model design, coordinate walking mechanism, realization is accurate to the other location of grade, the magnetic orientation system traditionally that makes up can only be in the defect of earth magnetism reference point location, realize being accurately positioned of position between adjacent earth magnetism reference point, by the utility model proposes a set of hall probe of increase, expansion link, the alignment system that motor is constituted, location algorithm is realized based on Arduino, reach being accurately positioned of optional position between two earth magnetism anchor points, without improving earth magnetism anchor point density, and realize the effect accurately turned to of an angle of 90 degrees and multiple angle thereof, there is system structure simple, location is the most accurate to be worth.

Claims

null1. an accurate positioning device based on Hall orientation system，It is characterized in that: it includes alignment system、Walking mechanism，Described alignment system is by hall probe、Telescoping mechanism、Installing plate、Motor forms，Described motor is arranged on a mounting board，Described telescoping mechanism passes motor，Described telescoping mechanism one end connects hall probe，Described alignment system is arranged on the bottom of walking mechanism，Described telescoping mechanism is by the tooth bar of the gear that modulus is 0.5、Insulated column、Bearing forms，Described motor is bolted on installing plate by two，The location of described tooth bar is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes，Described bearing is miniature bearing，Described miniature bearing quantity is four，The linear movement direction of tooth bar is carried out positioning tooth bar by described miniature bearing，Described hall probe is to be made up of four Hall elements and peripheral circuit，Described four Hall elements are decussation distribution；Described walking mechanism is made up of motor of walking, driving plate, road wheel, and described walking motor is connected with road wheel by driving plate.